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Fixing compilation in Debug mode. #65

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Fixing compilation in Debug mode. #65

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1 change: 1 addition & 0 deletions curves/include/curves/CubicHermiteSE3Curve.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,6 +275,7 @@ typedef kindr::HomogeneousTransformationPosition3RotationQuaternionD SE3;
typedef SE3::Rotation SO3;
typedef kindr::AngleAxisPD AngleAxis;
typedef kindr::RotationQuaternionPD RotationQuaternion;
typedef kindr::RotationVectorPD RotationVector;
typedef Eigen::Matrix<double, 6, 1> Vector6;
typedef kindr::TwistGlobalD Twist;

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8 changes: 4 additions & 4 deletions curves/src/CubicHermiteSE3Curve.cpp
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Expand Up @@ -347,15 +347,15 @@ bool CubicHermiteSE3Curve::evaluateDerivative(DerivativeType& derivative,
const SO3 w2_beta2_exp = RotationQuaternion().exponentialMap((beta2) * w2);
const SO3 w3_beta3_exp = RotationQuaternion().exponentialMap((beta3) * w3);

const RotationQuaternion w1_dbeta1(0.0, dbeta1 * w1);
const RotationQuaternion w2_dbeta2(0.0, dbeta2 * w2);
const RotationQuaternion w3_dbeta3(0.0, dbeta3 * w3);
const RotationQuaternion w1_dbeta1(RotationVector(dbeta1 * w1));
const RotationQuaternion w2_dbeta2(RotationVector(dbeta2 * w2));
const RotationQuaternion w3_dbeta3(RotationVector(dbeta3 * w3));

const Eigen::Vector4d diff = ((T_W_A.getRotation() * w1_beta1_exp * w1_dbeta1 * w2_beta2_exp * w3_beta3_exp).vector()
+ (T_W_A.getRotation() * w1_beta1_exp * w2_beta2_exp * w2_dbeta2 * w3_beta3_exp).vector()
+ (T_W_A.getRotation() * w1_beta1_exp * w2_beta2_exp * w3_beta3_exp * w3_dbeta3 ).vector())*one_over_dt_sec;

const RotationQuaternion qDiff(diff);
const RotationQuaternion qDiff(diff.normalized());
ValueType q;
if(!evaluate(q, time)) {
return false;
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